CN112263406A

CN112263406A - Manned stair climbing robot and stair climbing method thereof

Info

Publication number: CN112263406A
Application number: CN202011070451.4A
Authority: CN
Inventors: 段刚
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-10-09
Filing date: 2020-10-09
Publication date: 2021-01-26

Abstract

The invention discloses a manned stair climbing robot, which comprises a chassis system, a driving system, a seat system, a buffer system and a control system, wherein the chassis system is connected with the driving system; the chassis system comprises a track and a chain type crawler belt, and a driving motor is arranged on the chassis; one end of the seat is hinged on the chassis, the other end of the seat is in threaded fit with the adjusting screw rod, the buffer system comprises a buffer motor, a buffer screw rod and a buffer support arm, and a buffer wheel is further arranged on the buffer support arm; the control system is used for controlling the rotating speed and the direction of the driving motor, the adjusting motor and the buffering motor. The structure adopts the chain type caterpillar track and the track, has small resistance during movement, can realize the integration of walking on the flat ground and climbing stairs, and replaces a wheel-track mechanism. When going upstairs and downstairs, a flat-layer buffer system is designed for preventing the front and back from turning over, and the buffer accurately connects the stair climbing machine into the slow-walking platform. The seat adjusting system is arranged, so that the seat is always kept in a horizontal state no matter how large the gradient of the stairs is, and the riding comfort is greatly improved.

Description

Manned stair climbing robot and stair climbing method thereof

Technical Field

The invention belongs to the technical field of stair climbing machinery, and particularly relates to a manned stair climbing robot and a stair climbing method thereof.

Background

At present, nearly half of urban residents still live in buildings without elevators below 7 floors in China, and the problem of stair climbing is faced firstly in daily travel. For young and old people, the burden is not large, and for the old or special people, great inconvenience is brought.

In order to cope with the above problems, there have been proposed stair climbing machines which can go upstairs with a person or a wheelchair. The stair climbing machine in the current market has more analogy, and has a wheel type, a rubber crawler type and a wheel-crawler combined type. However, when the wheel type wheelchair goes upstairs, the balance is poor, the safety is poor, the riding comfort is poor, people on the wheelchair easily fall off from the wheelchair, and the wheelchair can climb the stairs only after being accompanied by a specially-assigned person, so that the manpower consumption is increased. The rubber crawler type and wheel-track combined stair climbing equipment has the advantages of large volume, inconvenient turning, and single function caused by low speed on flat ground.

Disclosure of Invention

The invention aims to provide a manned stair climbing robot and a stair climbing method thereof, which aim to solve the problems in the prior art.

The invention is realized by the following technical scheme: the utility model provides a manned stair climbing robot which characterized in that: the device comprises a chassis system, a driving system, a seat system, a buffering system and a control system; the chassis system comprises a track and a chain type crawler arranged on the outer side of the track, and the chassis is matched with the track through a shock absorber; a driving motor is arranged on the chassis and is matched with the chain type crawler belt through a driving shaft and a driving gear; the seat system comprises a seat, one end of the seat is hinged to the chassis, the other end of the seat is in threaded fit with the adjusting screw rod, and the other end of the adjusting screw rod is hinged to the output end of the seat adjusting motor; the buffer system comprises a buffer motor, a buffer lead screw and a buffer support arm, wherein the buffer support arm is arc-shaped, one end of the buffer support arm is hinged to the chassis, the buffer motor is fixed on the chassis through a buffer motor support, one end of the buffer lead screw is connected with the middle part of the buffer support arm in a rotating mode, the buffer lead screw is matched with the buffer motor, and a buffer wheel is further arranged on the buffer support arm; the control system is used for controlling the rotating speed and the direction of the driving motor, the adjusting motor and the buffering motor.

Further: the electric vehicle is characterized by further comprising a storage battery, wherein the storage battery is electrically connected with the driving motor, the adjusting motor and the buffering motor respectively.

Further: one end of the track is in an upward arc shape, a sliding groove is formed in the circumferential direction of the track, the chain type caterpillar track is connected in the sliding groove in a sliding mode, and a tensioner used for adjusting the tightness of the chain type caterpillar track is further arranged at the end portion of the track.

Further: the chain type crawler comprises chain links and chain shafts, wherein U-shaped chain plates are arranged on the chain links at intervals, rubber crawler legs are riveted on the chain plates, and bearings are arranged at two ends of the chain shafts and matched with grooves in the rails.

Further: the bumper shock absorber is equipped with damping spring including fixed dabber, cover on fixed dabber, be provided with a plurality of ears on the chassis, the ear cover is established in the fixed dabber outside and is located the damping spring upper end to with the cooperation of fixed dabber sliding connection.

The invention also provides a stair climbing method of the manned stair climbing robot, which is characterized in that: comprises the following steps of (a) carrying out,

step 1, judging the state of the stair climbing robot, going upstairs, performing step 2, and going downstairs, performing step 3;

step 2, aligning the rear end of the chair with the stairs, enabling the crawler to run, enabling the crawler at the rear end to be in contact with the stairs and ascend to drive the horizontal part to be in contact with the stairs, and enabling the seat adjusting motor to act to drive the adjusting screw rod to rotate to enable the seat to be in a horizontal state; when the stair climbing robot climbs to a stair terminal, the rear end of the stair climbing robot is suspended, the buffer motor is started at the moment to drive the buffer screw rod to act, so that the buffer support arm is driven to extend out and contact with the ground, and the buffer support arm is always in contact with the ground in the ascending process of the stair climbing robot until the gravity center of the stair climbing robot exceeds the position of a stair, the buffer support arm is slowly folded, the crawler is in a horizontal state, and at the moment, the seat adjusting motor acts simultaneously to drive the adjusting screw rod to rotate, so that the seat is in the horizontal state, and the stair climbing process is;

and 3, aligning the front end of the robot to a stair, lifting the buffer support arm to enable the inclination angle of the crawler to be consistent with that of the stair, adjusting the level of the seat, starting the crawler to run downwards, slowly retracting the buffer support arm until the robot exceeds the position of the stair, fully retracting the buffer support arm, continuing to drive the robot to be in a fully horizontal state under the driving of the crawler, and finishing the stair descending process.

Further: an inclination angle sensor is arranged at the lower side of the seat, detects the inclination angle of the seat, and controls a seat adjusting motor according to the detected value to enable the seat to tend to be horizontal.

The invention has the advantages that: the structure adopts the matching of the chain type caterpillar track and the track, has small resistance during movement, can realize the integration of walking on the flat ground and climbing stairs, and replaces a wheel-track mechanism. When going upstairs and downstairs, a flat-layer buffer system is designed for preventing the front and back from turning over, and the buffer accurately connects the stair climbing machine into the slow-walking platform. The seat adjusting system is arranged, so that the seat is always kept in a horizontal state no matter how large the gradient of the stairs is, and the seat is more suitable for riding. The structure can move quickly on the flat ground and climb stairs, the convenience of the wheel-track mechanism is considered, and the complexity of the wheel-track system is simplified. The double tracks of the stair climbing robot are respectively controlled, the turning with zero turning radius can be realized, and the stair climbing robot is convenient and reliable to use.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the vehicle of the invention;

FIG. 2 is a schematic view of the seat balance adjustment mechanism of the present invention;

FIG. 3 is a schematic view of the flat bed buffer mechanism of the present invention;

FIG. 4 is a schematic view of the chain track and track of the present invention;

FIG. 5 is a bottom view of the stair climbing machine;

FIG. 6 is a schematic cross-sectional view of a track and a track of the chain track.

Description of reference numerals: the device comprises a chassis 1, a track 2, a track 3, a damper 4, a driving motor 5, a seat 6, an adjusting screw 7, an adjusting motor 8, a buffering motor 9, a buffering screw rod 10, a buffering support arm 11, a buffering wheel 12, a storage battery 13, a sliding chute 14, a tensioner 15, a chain link 16, a chain shaft 17, a chain plate 18, a track foot 19, a bearing 20, a fixed mandrel 21, a damping spring 22, an ear 23 and a handle 24.

Detailed Description

Fig. 1-6 show a manned stair climbing robot of the present invention, which comprises a chassis system, a driving system, a seat system, a buffer system and a control system; the chassis system comprises a chassis 1, two tracks 2 arranged on two sides of the chassis and a chain type crawler 3 arranged on the outer sides of the tracks, wherein the chassis is matched with the tracks through a shock absorber 4; two groups of driving motors 5 which are respectively matched with the two tracks are arranged on the chassis, and the driving motors are matched with the chain type caterpillar track through a driving shaft and a driving gear; the seat system comprises a seat 6 (a seat framework is shown in the figure, a seat can be fixed on the seat framework or can be directly seated on the seat framework), one end of the seat is hinged on a chassis, the other end of the seat is in threaded fit with an adjusting screw 7 to form a screw rod adjusting pair, the other end of the adjusting screw is hinged at the output end of a seat adjusting motor 8, and the adjusting screw is driven by the adjusting motor to rotate so as to drive one end of the seat to lift, so that the adjustment of the inclination angle of the seat is realized; the buffer system comprises a buffer motor 9, a buffer lead screw 10 and a buffer support arm 11, wherein the buffer support arm is arc-shaped, one end of the buffer support arm is hinged to the chassis, the buffer motor is fixed on the chassis through a buffer motor support, one end of the buffer lead screw is screwed with the middle part of the buffer support arm, the buffer lead screw is matched with the buffer motor to form an adjusting pair, a buffer wheel 12 is further arranged on the buffer support arm, and the buffer wheel is arranged on the buffer support arm through a buffer wheel shaft; the control system is used for controlling the rotating speed and the direction of the driving motor, the adjusting motor and the buffering motor, and the control end of the control system is positioned on the handle 24 of the structure.

Preferably: still include storage battery 13, storage battery respectively with driving motor, accommodate motor, buffer motor electric connection for provide the driving energy.

Preferably: one end of the track is in an upward arc shape, a sliding groove 14 is formed in the circumferential direction of the track, the chain type crawler belt is connected in the sliding groove in a sliding mode, and a tensioner 15 used for adjusting the tightness of the chain type crawler belt is further arranged at the end portion of the track.

Preferably: the chain track comprises chain links 16 and chain shafts 17, wherein U-shaped chain plates 18 are arranged on the chain links at intervals, rubber track feet 19 are riveted on the chain plates, and bearings 20 are arranged at two ends of the chain shafts and are matched with grooves on the track.

Preferably: the bumper shock absorber includes fixed dabber 21, and the cover is equipped with damping spring 22 on fixed dabber, be provided with a plurality of ears 23 on the chassis, the ear cover is established in the fixed dabber outside and is located the damping spring upper end to with the cooperation of fixed dabber slip joint, the chassis has realized good buffering shock attenuation through ear and damping spring's cooperation. Meanwhile, the driving motor and the driving gear are positioned on the upper portion of the tilting portion of the track, and the chassis does not influence the matching and driving of the driving gear and the chain due to a small amount of displacement relative to the damping spring.

According to the structure, the moving mechanism adopts a structure of combining the chain type caterpillar track and the track, and the bearing is arranged on the link shaft, so that the friction force is small during movement, and the action is light. The chain type caterpillar track is embedded in the track, is not easy to fall off and is convenient to operate. The chain type crawler system replaces a wheel-track system, so that the walking machine can not only walk on flat ground rapidly, but also climb stairs. The buffer system is arranged, so that the stair can not roll forward and backward when running at the joint position of the stair and the slow walking platform, the state adjustment is stable, and the stair is safe and comfortable. When the chair ascends and descends the stairs, the chair automatically adjusts the balance, and the chair is always kept in a horizontal state no matter how the angle of the stairs is changed, so that the riding comfort is improved.

Because the chain track adopts the bearing as the support and can form a motion system, the friction is small, the action is light, the chain track completely replaces a wheel track mechanism, not only can walk fast on the flat ground, but also can climb stairs, thereby achieving two purposes at one stroke.

The invention also provides a stair climbing method of the manned stair climbing robot, which comprises the following steps,

step 2, aligning the rear end (the tilting end of the track is the rear end, and the flat end is the front end) with the stairs, operating the crawler belt, enabling the rear end crawler belt to be in contact with the stairs and ascend, and driving the horizontal part to be in contact with the stairs, wherein at the moment, the seat adjusting motor acts to drive the adjusting screw rod to rotate, so that the front end of the seat is gradually ascended, and the seat is always in a horizontal state; when the stair climbing robot climbs to a stair terminal, the rear end of the stair climbing robot is suspended, the buffer motor is started at the moment to drive the buffer screw to act, so that the buffer support arm is driven to extend out, the buffer wheel is contacted with the ground, the stair climbing robot continuously ascends, and the buffer wheel is always contacted with the ground in the ascending process of the stair climbing robot, so that the supporting and buffering effects are achieved; until the gravity center of the stair climbing robot exceeds the position of the highest stair, the stair climbing robot stops climbing, the buffer support arm is slowly folded, the stair climbing robot gradually descends until the whole stair climbing robot is in a horizontal state, and at the moment, the seat adjusting motor simultaneously acts to drive the adjusting screw rod to rotate, so that the seat is in the horizontal state, and the stair climbing process is completed;

and 3, aligning the front end with a stair, driving the front end to be partially suspended and keeping the gravity center still above the step, lifting the buffer support arm to enable the inclination angle of the crawler to be consistent with that of the stair, adjusting the seat to be horizontal, starting the crawler to move downwards, slowly retracting the buffer support arm at the same time, keeping the straight part of the crawler to be in contact with the stair, completely retracting the buffer support arm when the straight part of the crawler of the robot is located on the stair, continuing to be in a completely horizontal state under the driving of the crawler, and finishing the stair descending process.

Preferably: an inclination angle sensor is arranged at the lower side of the seat, detects the inclination angle of the seat, and controls a seat adjusting motor at any time according to the detected numerical value to enable the seat to tend to be horizontal.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a manned stair climbing robot which characterized in that: the device comprises a chassis system, a driving system, a seat system, a buffering system and a control system;

the chassis system comprises a track and a chain type crawler arranged on the outer side of the track, and the chassis is matched with the track through a shock absorber; a driving motor is arranged on the chassis and is matched with the chain type crawler belt through a driving shaft and a driving gear;

the seat system comprises a seat, one end of the seat is hinged to the chassis, the other end of the seat is in threaded fit with the adjusting screw rod, and the other end of the adjusting screw rod is hinged to the output end of the seat adjusting motor;

the buffer system comprises a buffer motor, a buffer lead screw and a buffer support arm, wherein the buffer support arm is arc-shaped, one end of the buffer support arm is hinged to the chassis, the buffer motor is fixed on the chassis through a buffer motor support, one end of the buffer lead screw is connected with the middle part of the buffer support arm in a rotating mode, the buffer lead screw is matched with the buffer motor, and a buffer wheel is further arranged on the buffer support arm;

the control system is used for controlling the rotating speed and the direction of the driving motor, the adjusting motor and the buffering motor.

2. The manned stair climbing robot according to claim 1, wherein: the electric vehicle is characterized by further comprising a storage battery, wherein the storage battery is electrically connected with the driving motor, the adjusting motor and the buffering motor respectively.

3. The manned stair climbing robot according to claim 1, wherein: one end of the track is in an upward arc shape, a sliding groove is formed in the circumferential direction of the track, the chain type caterpillar track is connected in the sliding groove in a sliding mode, and a tensioner used for adjusting the tightness of the chain type caterpillar track is further arranged at the end portion of the track.

4. The manned stair climbing robot according to claim 1, wherein: the chain type crawler comprises chain links and chain shafts, wherein U-shaped chain plates are arranged on the chain links at intervals, rubber crawler legs are riveted on the chain plates, and bearings are arranged at two ends of the chain shafts and matched with grooves in the rails.

5. The manned stair climbing robot according to claim 1, wherein: the bumper shock absorber is equipped with damping spring including fixed dabber, cover on fixed dabber, be provided with a plurality of ears on the chassis, the ear cover is established in the fixed dabber outside and is located the damping spring upper end to with the cooperation of fixed dabber sliding connection.

6. A stair climbing method of a manned stair climbing robot is characterized in that: comprises the following steps of (a) carrying out,

7. The method of claim 6, wherein: an inclination angle sensor is arranged at the lower side of the seat, detects the inclination angle of the seat, and controls a seat adjusting motor according to the detected value to enable the seat to tend to be horizontal.